They say that in the past six months four dogs, including a puppy, have been run over and killed in Kensington Gardens. Two other pets are reported to have been seriously injured.

Kendal, 62, who owns cocker spaniel George, said: "We are a biking family, but I don't think it's appropriate to use the Gardens as a cut-through for people on their bikes commuting to work. I'm all for cycling, but not when it's dangerous." Seagrove, 51, who is also a cyclist and walks springer spaniel Louie and black labrador/Jack Russell cross Millie in the gardens, said she was "deeply saddened" by the deaths, adding: "I know how much animals mean to owners. One moment you are having a nice walk with the family and suddenly it's ruined by someone doing something thoughtless. The problem arises when cyclists stray from the designated paths.

"People are simply ignoring the signs. They should cycle thoughtfully - if they don't then it won't be long before a child is killed."

Dog owners and their pets formed a human-canine chain across one of the pedestrian-only tracks they say are regularly used by cyclists.

The group included Mimi, the dog in BBC drama Judge John Deed.

Protesters gathered near the Diana, Princess of Wales Memorial Playground, yards from the spot where Missy, a young mongrel, was killed last month. Missy's owner Marisa Knightley said: "Losing her was devastating. When she was hit she was being walked along a tiny footpath.

"The cyclist should not have been there but there was nothing that could be done. The only consolation is that she died in a few minutes."

The 36-year-old, who works for football agents Soccer Base, had been so attached to her dog she had bought a house in Bayswater because it was close to the park and convenient for walking.

Pet owners say that over the summer a labrador puppy, a spaniel and a whippet have also been killed in collisions with cyclists. Angela Freid, of the Royal Parks Dog Owners' Association, said: "It's well known that Queen Victoria gave the gardens to children and dogs. We think it should stay that way."

The Royal Parks has launched a considerate cycling campaign and applied to the Ministry of Justice for permission to issue on-the-spot fines to rule-breakers. The Metropolitan police can fine dangerous riders up to £250, and are thought to have done so 100 times this year.

Seagrove added: "Today those of us who use Kensington Gardens are a big family. We talk to each other and if something goes wrong we get together to try to put it right. That way, we can all enjoy the park."